Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous robots: (1)it is a comprehensive task to know what and how to grasp; (2)it is hard to deal with the situations in which the target is hidden or covered by other objects. In this paper, we propose a multi-task convolutional neural network for autonomous robotic grasping, which can help the robot find the target, make the plan for grasping and finally grasp the target step by step in object stacking scenes. We integrate vision-based robotic grasping detection and visual manipulation relationship reasoning in one single deep network and build the autonomous robotic grasping system. Experimental results demonstrate that with our model, Baxter robot can autonomously grasp the target with a success rate of 90.6%, 71.9% and 59.4% in object cluttered scenes, familiar stacking scenes and complex stacking scenes respectively.
LaTiO N photocatalysts were prepared by thermal ammonolysis of flux-synthesized La Ti O and La TiO , and were investigated for water oxidation. Though LaTiO N derived from La TiO appears defect-free by UV/Vis/near-IR and electron paramagnetic resonance (EPR) spectroscopy, its performance is much lower than that of conventional La Ti O -derived LaTiO N with defects. It is shown by Mott-Schottky analysis that La TiO -derived LaTiO N has significantly lower donor density; this can result in insufficient built-in electric field for the separation of photogenerated electrons and holes. The lower donor density is also consistent with the smaller difference between the Fermi level and the valence-band maximum, which accounts for a lower oxidative power of the holes. In light of this discovery, the donor density was increased substantially by introducing anion vacancies through annealing in Ar. This resulted in improved performance. The CoO -assisted La TiO -derived LaTiO N annealed at 713 °C has a higher quantum efficiency (25 %) at 450 nm than high-performance conventional CoO /LaTiO N (21 %).
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